good work
Closed this issue · 12 comments
I have some questions;
first ,do you delete the IMU information?
second,last week I use the repo test the kitti raw data(=sequence00+IMU),but unfortunately,the result is not good ,have you tested the 00 sequence ever?
by the way ,I use the tool "kitti2bag" to transform the raw kitti data to bag
Hello xuwuzhou
This is the result of kitti-lego-loam of 00 sequence with only lidar data(no imu, no loop closure)
And I haven't made any changes to the IMU part.
Would you try without IMU and see what you get?
Hello,Mitchell-Lee-93
Of course I will,but I have a question,if you test the 00 sequence with only lidar data,the IMU part in the lego-loam should be deleted,isn't it?
you can play only Velodyne topic with "rosbag play *.bag --clock --topic /kitti/velo/pointcloud"
(It differs by your bag file's topic name)
Thanks for your reply!
I know what you mean,but I wonder that if there is no IMU data put in, the IMU part in the source code will stay static when running the repo(=if the IMU part infuence the final result without IMU data in).
Hello, @Mitchell-Lee-93
Just now,I tested the repo with 00 sequence without IMU(use the kittibag which you provided to generate a bag),but the result is worse:
Your result is really good ,just with a little bias;
the tools is kittibag,and directory structrue is as follows:
and I have change the params in the launch file:
After that ,I run the repo,and I play the bag with order "rosbag play 00.bag --clock".
Do you know where I made a mistake?
Best regards!
Did you maybe speed up the rosbag play factor with "rosbag play -r" command? I tried to speed up the topic with it, but I got a distorted trajectory like yours. If it's not the problem, I'm not sure what's the problem for now
Hello @Mitchell-Lee-93
I didn't speed up the rosbag play factor;
And when I play the bag which the kittibag generated,something wrong happens to the rviz:
but in fact it can put out result in result.txt as mentioned;
Just now,the author of lego-loam replied that the comment which he made in issue#12 isn't right,do you know what should be changed?
Just now,I used the tool "kitti2bag" to generate a bag through raw data,
and use the order"play **.bag --clock --topic --topic /kitti/velo/pointcloud"
the result didn't get better:
it seems that with or without the order"--topic /kitti/velo/pointcloud" don't make any change,
But your result is really good ,do you make any change on the source code?
I believe since kittibag doesn't generate TF topic, it's like that only when you use Rviz but result is still same. And for --topic, if you've used kittibag, there is no IMU topic so it's normal that there is no difference. For the difference of the result, would you try my kitti-A-loam repository? Since it's using optimization, I guess the results might be a bit different from computer to computer. If you get different result of my kitti-A-loam result, that might be the problem
Thanks for your reply;
Yesterday,I tried your kitti-A-loam,the result is same as you ;
I know what happened;
Because I used raw data to generate a bag before,after I used the distorted data,the result gets better
It's good to know that you've solved the problem!